version: 66.06
glider: 180
mission: 1
dive: 14
start: 2 3 110 6 48 15
data:
$ID,180
$MISSION,1
$DIVE,14
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$D_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,72
$T_MISSION,85
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,580
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5158.063
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3955
$C_PITCH,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,232
$ROLL_MAX,3814
$ROLL_DEG,44
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,420
$VBD_MAX,3960
$C_VBD,3444
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-45.04306
$PRESSURE_SLOPE,0.0001165946
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,0
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.3
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043584961
$SEABIRD_T_H,0.00063068554
$SEABIRD_T_I,2.4926299e-05
$SEABIRD_T_J,2.7191541e-06
$SEABIRD_C_G,-10.279253
$SEABIRD_C_H,1.1573142
$SEABIRD_C_I,-0.0015083726
$SEABIRD_C_J,0.00020789768
$GPS1,064136,4806.230,-12222.300,31,1.0,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-74.4
$GPS2,064720,4806.214,-12222.291,11,1.7,11,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.096,0.175
$KALMAN_X,-2411.7,-166.7,-19.2,3761.4,108.4
$KALMAN_Y,-873.9,0.9,73.8,-2208.7,-248.0
$MHEAD_RNG_PITCHd_Wd,313.1,3925,-14.6,-6.944
$D_GRID,107
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.69,-107.5,0.0,0.0,0,135,0.00,0.00,-115.82,0.000,2,0.000,0.000,152,2507,3042,0,0,0,0,0,0
$GC,137,-0.69,-107.5,3.2,-4.4,28,182,14.02,2.12,-24.40,0.000,4,0.327,0.083,2717,3808,3881,0,0,0,0,0,0
$GC,445,-0.69,-107.5,24.2,-8.0,95,451,0.00,1.98,0.00,0.000,6,0.000,0.038,2717,2500,3882,0,0,0,0,0,0
$GC,520,-0.69,-107.5,29.8,-7.5,111,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2500,3882,0,0,0,0,0,0
$GC,595,-0.69,-107.5,35.9,-8.5,127,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2499,3882,0,0,0,0,0,0
$GC,670,-0.69,-107.5,42.2,-8.5,143,675,0.00,2.12,0.00,0.000,4,0.000,0.070,2707,3814,3882,0,0,0,0,0,0
$GC,703,-0.69,-107.5,45.1,-8.7,150,709,0.00,1.98,0.00,0.000,6,0.000,0.039,2707,2498,3882,0,0,0,0,0,0
$GC,848,-0.69,-107.5,58.3,-9.2,181,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2498,3882,0,0,0,0,0,0
$GC,992,-0.69,-107.5,71.1,-8.9,212,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2498,3882,0,0,0,0,0,0
$GC,1136,-0.69,-107.5,83.2,-8.3,243,1141,0.00,2.12,0.00,0.000,4,0.000,0.070,2697,3816,3882,0,0,0,0,0,0
$GC,1169,-0.69,-107.5,86.2,-8.7,250,1175,0.15,1.98,0.00,0.000,6,0.213,0.039,2732,2501,3881,0,0,0,0,0,0
$GC,1313,-0.69,-107.5,96.7,-6.9,281,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2501,3881,0,0,0,0,0,0
$GC,1456,-0.69,-107.5,106.2,-6.7,312,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2501,3882,0,0,0,0,0,0
$STATE,1469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1469,begin apogee
$GC,1472,-0.19,0.0,107.1,6.6,315,1559,0.52,0.00,81.30,0.667,6,0.170,0.000,2892,2501,3444,0,0,0,0,0,0
$STATE,1560,end apogee,CONTROL_FINISHED_OK
$STATE,1560,begin climb
$GC,1561,0.69,107.5,108.1,0.0,335,1651,0.90,0.00,83.70,0.639,6,0.123,0.000,3178,2502,3005,0,0,0,0,0,0
$GC,1790,0.69,107.5,85.2,12.1,386,1796,0.00,2.53,0.00,0.000,4,0.000,0.047,3190,906,3004,0,0,0,0,0,0
$GC,1833,0.69,107.5,79.9,12.1,395,1839,0.00,2.45,0.00,0.000,6,0.000,0.048,3186,2451,3004,0,0,0,0,0,0
$GC,1977,0.69,107.5,62.7,11.8,426,1983,0.00,2.17,0.00,0.000,4,0.000,0.057,3176,3816,3004,0,0,0,0,0,0
$GC,2025,0.69,107.5,56.5,13.2,436,2030,0.00,2.08,0.00,0.000,6,0.000,0.034,3185,2448,3004,0,0,0,0,0,0
$GC,2169,0.69,107.5,39.6,11.6,467,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2448,3004,0,0,0,0,0,0
$GC,2243,0.69,107.5,31.0,11.7,483,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2448,3004,0,0,0,0,0,0
$GC,2317,0.69,107.5,22.9,11.0,499,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2447,3004,0,0,0,0,0,0
$GC,2391,0.69,107.5,14.6,11.3,515,2397,0.00,2.38,0.00,0.000,4,0.000,0.048,3197,909,3004,0,0,0,0,0,0
$GC,2434,0.69,107.5,9.6,11.6,524,2440,0.00,2.42,0.00,0.000,6,0.000,0.046,3189,2464,3004,0,0,0,0,0,0
$STATE,2499,end climb,SURFACE_DEPTH_REACHED
$STATE,2499,begin surface coast
$FINISH,4.8,1.020407
$STATE,2570,end surface coast,CONTROL_FINISHED_OK
$STATE,2570,begin surface
$SM_CCo,2572,317.05,0.563,1,0,420,741.79
$SM_GC,1.10,8.93,0.00,0.00,0.077,0.000,0.000,151,2494,418,-8.76,-0.17,742.28
$IRIDIUM_FIX,4745.30,-12220.12,300499,050505
$TT8_MAMPS,0.027612
$HUMID,32.28
$INTERNAL_PRESSURE,9.04831
$TCM_TEMP,19.30
$XPDR_PINGS,7
$24V_AH,24.3,1.528
$10V_AH,10.6,1.437
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,24.525,26.350,165.000,317.050,0.000,24.060,30.911,203.187,3.250,0.000,12.292,798.476,815.924,600.028,807.441,337.313,33.357,1074.495,0.000,800.488,0.000,10.576,0.000
$DEVICE_MAMPS,326.742,211.692,667.290,562.978,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,369.185,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324548
$DATA_FILE_SIZE,19005,553
$CAP_FILE_SIZE,61497,0
$CFSIZE,260165632,254210048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030210,073902,4806.343,-12222.420,13,1.0,13,18.3